I have a confession, I like to jump off of rocks and do not like sandy beaches. There is a technique for these types of beaches as you do not pack the normal towel and water. It takes a bit more planning and being prepared well in advance.
Meet your new best friend the pool float / lilo. It serves as a multi-purpose float in this situation as you can enjoy relaxing on it in the water but it'll also create a nice cushion for those not so smooth rocks you will be trying to sleep on. Don't forget an umbrella and a packed picnic and you will have the best beach experience of a lifetime. Cala S'Almunia is picture perfect and now on the top of my beach list.

How to get there from Santanyí

Start out from calle de Llombards going southeast, which leads to carretera Ma-6100 (Colònia de Sant Jordi). Follow this road until a roundabout, where you have to take the second exit to take camino de Cala Llombards which will lead you to this coastal village. Once in Cala Llombards, the road becomes calle Era de sa Roca. Stay straight and then turn right to go onto avenida Cala Llombards. Here you can look for parking and reach Cala s'Almunia after a two kilometres walk.